Multi-line laser 3D scanning device

Abstract

The present application relates to the field of three-coordinate measurement technology, specifically a multi-line laser 3D scanning device, including a detection table with a columnar reference portion in the center for carrying an adaptive clamping unit; the clamping unit includes a lower clamping unit, an upper clamping unit and an adjustment unit; an acquisition unit includes a first locator and a first angle sensor arranged at the bottom of the adjustment unit, a second locator and a second angle sensor at the corner of the upper clamping unit, a corner image collector and its attached third locator and third angle sensor, and a detection surface image collector on the surface clamping seat; a laser scanning unit includes a horizontal scanning unit and a vertical scanning unit; a verification unit is a first image collector and a second image collector, which are respectively fixed to the horizontal probe and the vertical probe, as well as a processor and a controller. The present application improves the detection accuracy by correcting the local acquisition error of the current grid unit and adjusting the detection light of the next grid unit through dynamic compensation.

Description

Technical Field

[0001] The present invention relates to the field of three-coordinate measurement technology, and in particular to a multi-line laser 3D scanning device. Background Art

[0002] In existing laser 3D scanning technology, workpieces are prone to positional shifts and deformations due to gravity or external vibrations, resulting in the laser beam being unable to maintain a perpendicular position relative to the detection surface in real time. Existing technologies often use mechanical fixtures to secure the workpiece, but these fixtures are unable to adaptively compensate for the deformation of workpieces with complex contours. When the workpiece is tilted, the laser beam enters the detection surface at a non-perpendicular angle, causing deviations in the reflection path and distorting the 3D point cloud data. For multi-faceted scanning, it is difficult for the grid cells to coordinately maintain a perpendicular detection state after the workpiece is offset, resulting in misaligned spliced ​​data and low measurement accuracy. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a multi-line laser 3D scanning device to solve the above technical problems.

[0004] A multi-line laser 3D scanning device, comprising:

[0005] The test table has a columnar reference part in the center for carrying the adaptive clamping unit;

[0006] The clamping unit includes a lower clamping unit, an upper clamping unit, and an adjustment unit located between the upper clamping unit and the lower clamping unit:

[0007] The acquisition unit includes a first locator and a first angle sensor disposed at the bottom end of the adjustment unit; a second locator and a second angle sensor disposed at a corner of the upper clamping unit, a corner image collector and its accompanying third locator and third angle sensor; and a detection surface image collector disposed on the upper clamping unit at the detection surface of the workpiece to be measured;

[0008] The laser scanning unit includes: a horizontal scanning unit, which moves along the first horizontal slide rail and the second horizontal slide rail and is equipped with a horizontal probe; a vertical scanning unit, which moves through a three-axis adjustment mechanism and is equipped with a vertical probe;

[0009] Verification unit: The first image collector and the second image collector are fixed to the horizontal probe and the vertical probe respectively, capturing the actual image parameters of the detection spot in real time;

[0010] The processor is configured to perform the following operations: calculate the profile information and tilt angle θ of the detection surface based on the acquisition unit data; grid the detection surface to generate theoretical image parameters for each grid unit; compare the image difference between the theoretical image parameters and the actual image parameters, and output the measurement compensation amount for the current grid unit and the probe adjustment amount for the next grid unit, wherein the processor is configured with an anomaly detection logic, the anomaly detection logic is configured to generate a composite waveform of multiple beam reflection signals, compare its amplitude with a dual threshold value through a window comparator, and trigger a scan path correction if the amplitude exceeds the threshold range to form a correction instruction;

[0011] The controller dynamically adjusts the horizontal scanning unit and the vertical scanning unit according to the correction instruction sent by the processor, so that the detection light is always perpendicular to the detection surface.

[0012] Furthermore, the lower clamping unit has: four groups of adaptive telescopic parts radiating from the reference portion as the center, each group including a second crossbeam, an adjustment rod assembly, and a first crossbeam, wherein the adjustment rod assembly is composed of an upper connecting rod and a lower connecting rod connected in a sliding manner, the upper connecting rod and the lower connecting rod cross-slide through the first connecting rod and the second connecting rod, and are respectively connected to the upper elastic connecting member and the lower elastic connecting member; the upper elastic connecting member and the lower elastic connecting member are respectively built-in deformation sensors to monitor the bottom offset ΔL of the workpiece in real time;

[0013] The upper clamping unit includes an elastic ring, and an upper corner clamping seat and a surface clamping seat sleeved on the elastic ring; the corner clamping seat is arranged corresponding to the adjustment unit, and the corner clamping seat is installed on the top of the adjustment unit; the surface clamping seat is respectively arranged between two adjacent corner clamping seats; the elastic ring is respectively connected to the corner clamping seat and the surface clamping seat; the elastic connecting ring adapts to the top of workpieces of different sizes by shrinking;

[0014] The second locator, the second angle sensor corner image collector and the attached third locator and third angle sensor are respectively mounted on the corner clamping seat;

[0015] The detection surface image collector is installed on the surface clamping seat.

[0016] Further, the lower clamping unit is configured as an adaptive clamping mechanism, and the upper clamping unit is configured with cooperative control logic;

[0017] The adaptive clamping mechanism of the lower clamping unit includes: the upper connecting rod and the lower connecting rod are slidably connected through a sliding groove, and the expansion and contraction amount of the upper elastic connecting member and the lower elastic connecting member are fed back to the processor in real time through a deformation sensor; the processor dynamically calculates the geometric center coordinates of the workpiece based on the offset ΔL and the top corner position data, and generates a closed-loop control signal for the clamping force;

[0018] The collaborative control logic of the upper clamping unit includes: the surface clamping seat moves along the detection surface, and the surface texture is captured by the detection surface image collector; the corner image collector realizes panoramic scanning of the corners through the three-axis adjustment mechanism, and its panoramic scanning data is used to construct the circumscribed area of ​​the detection surface.

[0019] Furthermore, the anomaly detection logic is used to synthesize the reflection signal captured by the verification unit into a single waveform; the processor presets a positive side threshold Th1 and a negative side threshold Th2; when the amplitude of the synthesized waveform is less than Th1 or greater than Th2, the reflection path is determined to be abnormal, triggering the following compensation: if the light intensity is attenuated, the laser power is increased; if the profile is distorted, the scanning step size is adjusted;

[0020] At the same time, through the set sampling period, the time constant τ is set to characterize the rising rate of the reflected signal, and the rising rate of the reflected signal is reflected based on the resistance change at the distance from the detection surface; the reflected signal values ​​V11 and V12 are obtained at the first sampling time point ST1 and the second sampling time point ST2; the position deviation of the laser incident point is detected by the ratio V11 / V12, and the deflection angle of the horizontal probe and / or vertical probe is dynamically adjusted.

[0021] Furthermore, the processor is preset with a third threshold Th3 and a fourth threshold Th4 for distinguishing local abnormality types; if the amplitude of the composite signal is less than Th3 and greater than Th4, it is determined to be a single-point reflection failure; if the amplitude is ≈0, it is determined to be a full-area failure;

[0022] At the same time, the processor divides the non-uniform grid based on the curvature of the detection surface, and the cell density in the high curvature area is increased by 2 times; each grid cell independently calculates the theoretical spot shape; the scanning path fits the theoretical shape in real time, and the splicing misalignment is eliminated through B-spline interpolation.

[0023] Furthermore, the controller synchronously drives the horizontal scanning unit and the vertical scanning unit; and at the same time, the horizontal probe performs three-axis linkage along the first horizontal slide rail and the second horizontal slide rail;

[0024] The tilt angle θ of the angle sensor of the acquisition unit is fused with the locator coordinates (x, y, z) to generate the normal vector of the detection surface; the processor maps the normal vector to the deflection angle α of the laser probe and verifies the vertical incidence state through the verification unit.

[0025] Furthermore, the lower clamping unit also has deformation compensation logic:

[0026] The spring coefficients of the upper elastic connector and the lower elastic connector are associated with the hardness of the workpiece material; the processor calculates the gravity deformation compensation amount based on the deformation amount S of the upper elastic connector and the lower elastic connector and the calibration coefficient K.

[0027] Furthermore, the corner image collector and the detection surface image collector synchronously collect corner and plane images; the processor aligns the corner images through feature point matching and calculates the detection surface stitching error; if the stitching error is greater than 0.1mm, the laser scanning unit position is triggered to be recalibrated; the recalibrated data is written into the controller motion parameters, and multiple scanning cycles are continued to complete dynamic calibration compensation.

[0028] Furthermore, the lower clamping unit includes a reference portion, and a plurality of adaptive telescopic members disposed between the adjustment unit and the reference portion;

[0029] The reference portion is mounted at the top center of the detection platform;

[0030] The plurality of adaptive telescopic members are radially arranged around the base portion, and one end is mounted on the base portion. The end of the adaptive telescopic member mounted on the base portion rotates around the mounting position.

[0031] The bottom end of the adjusting unit is connected to the end of the adaptive telescopic member facing away from the reference portion and rotates along the connection. The connection between the bottom end of the adjusting unit and the adaptive telescopic member realizes clamping of the bottom circumference of the workpiece to be measured, and by rotating around the adaptive telescopic member, clamping of side walls with different inclinations is realized; the upper clamping units are respectively mounted on the top ends of the adjusting units;

[0032] At least four of the adaptive telescopic members and the reference portion are provided as a basis to adapt to the four corners of the workpiece with a rectangular symmetrical structure;

[0033] The adaptive telescopic member includes a second crossbeam, an adjusting rod assembly and a first crossbeam which are sequentially arranged along a direction from the reference portion to the adjusting unit;

[0034] One end of the second beam is mounted on the reference portion and rotates along a connection with the reference portion;

[0035] The adjusting rod assembly includes an upper connecting rod and a lower connecting rod that are slidably connected, one end of the upper connecting rod is connected to the other end of the second crossbeam, an upper elastic connecting member is provided between the other end of the upper connecting rod and the first crossbeam, and one end of the upper connecting rod provided with the upper elastic connecting member is slidably connected to the lower connecting rod;

[0036] One end of the lower connecting rod is connected to the first crossbeam, a lower elastic connecting member is provided between the other end of the lower connecting rod and the second crossbeam, and one end of the lower connecting rod provided with the lower elastic connecting member is slidably connected to the upper connecting rod;

[0037] Two ends of the upper elastic connecting member are respectively connected to the first crossbeam and the upper connecting rod;

[0038] Two ends of the lower elastic connecting member are respectively connected to the second cross beam and the lower connecting rod.

[0039] Furthermore, the adjustment unit is a telescopic rod structure, and the corner image collector can swing left and right at the corresponding corner and move along a vertical line to perform a panoramic scan of the corner, and the detection surface collector can move up and down and left and right along the corresponding detection surface to collect information of the entire detection surface;

[0040] The laser scanning unit includes at least a horizontal scanning unit and a vertical scanning unit;

[0041] The horizontal scanning unit is located on one side of the detection platform and is used to detect the vertical detection surface of the workpiece to be detected; the vertical scanning unit is located on the top of the detection platform and is used to detect the horizontal detection surface of the workpiece to be detected; the horizontal scanning unit and the vertical scanning unit respectively perform three-axis motion along the detection platform;

[0042] The verification unit is an image collector, which is respectively arranged on the horizontal measuring head and the vertical measuring head.

[0043] The present application has a multi-dimensional deformation compensation mechanism for an adaptive clamping unit. The clamping unit of the present application adopts a composite structure of "a lower clamping adaptive telescopic member and an upper clamping elastic ring". The radial telescopic design of the lower clamping unit: four groups of adaptive telescopic members are distributed with the base part as the center. Each group is connected by an upper connecting rod and a lower connecting rod through a cross slide, and is equipped with upper / lower elastic connectors (with built-in deformation sensors). When the workpiece is placed, the deformation of the upper elastic connector and the lower elastic connector drives the connecting rod to slide. The sensor feeds back the offset ΔL to the processor in real time. The processor dynamically calculates the geometric center coordinates based on ΔL and the top corner position data to generate a closed-loop control signal for the clamping force. The elastic ring of the upper clamping unit is coordinated and controlled: the elastic ring adapts to the top size of the workpiece by shrinking. The surface clamping seat and the corner clamping seat are distributed along the elastic ring. The corner clamping seat is installed at the top of the adjustment unit and can swing with the adjustment unit to fit the inclined side wall. The detection surface image collector on the surface clamping base synchronously captures the surface texture and fuses it with the panoramic scan data from the corner image collector to construct the detection surface circumference, achieving stable positioning on all five sides. Linked compensation logic: The deformation sensor of the lower clamping unit is integrated with the angle sensor of the upper clamping unit. The processor calculates the gravity deformation compensation using the formula ΔL = K·S, where K is the material calibration coefficient and S is the deformation of the upper and lower elastic connectors.

[0044] This application has a real-time error calibration system with dynamic compensation correction. The processor realizes dynamic correction of detection errors through the logic chain of "grid division-parameter comparison-bidirectional adjustment":

[0045] Unitized processing of the detection surface: Based on the data from the locator and angle sensor of the acquisition unit, the processor divides the detection surface into a non-uniform grid, and the cell density in the high-curvature area is doubled (for example, the grid side length in the area with curvature > 0.5mm⁻¹ is reduced from 1mm to 0.5mm). Each grid cell independently calculates the theoretical spot shape. For example, for the curved surface cell, the theoretical spot shape is an ellipse, and the major axis is positively correlated with the radius of curvature. Calculation of the difference between theoretical and actual image parameters: The verification unit captures the actual image parameters of the spot (contour size, shape distortion, and light intensity distribution) in real time, and the processor compares the theoretical image parameters to generate an image difference. Bidirectional adjustment strategy: For the current grid cell, local errors are corrected through compensation (such as dynamic power adjustment when light intensity attenuates); for the next grid cell, the detection light is made to be incident vertically through adjustment (such as the probe deflection angle α).

[0046] This application features a multi-threshold waveform analysis mechanism for anomaly detection logic. The processor's built-in anomaly detection logic enhances scanning robustness through a "waveform synthesis-threshold comparison-graded compensation" process: Reflection signal synthesis and threshold setting: The multiple reflected signals captured by the verification unit are synthesized into a single waveform. The processor presets a positive threshold Th1 = 1.2 × the standard amplitude, a negative threshold Th2 = -1.2 × the standard amplitude, and Th3 = 0.5 × the standard amplitude and Th4 = 0.3 × the standard amplitude to distinguish local anomalies. Anomaly type classification: When the synthesized waveform amplitude is < Th1 or > Th2, the reflection path is determined to be abnormal. If the amplitude is < Th3 and > Th4 (e.g., 4mV), it is determined to be a single-point reflection failure, which is corrected using adjacent point data through interpolation. If the amplitude is ≈ 0, it is determined to be a full-area failure, triggering scan path replanning, skipping the failed area and increasing the density of scanning points in the adjacent area (increasing the density by 100%). Dynamic compensation execution: For light intensity attenuation (such as the amplitude falling below Th1), the controller increases the laser power from 50mW to 60mW; for contour distortion (such as the amplitude exceeding Th2), the scanning step size is adjusted from 0.8mm to 0.6mm.

[0047] This application has a high-precision splicing technology of non-uniform grid and B-spline interpolation, which solves the problem of point cloud splicing dislocation through curvature-driven grid division and real-time fitting algorithm: Curvature adaptive grid division: The processor divides the non-uniform grid based on the curvature of the detection surface (calculated by the texture gradient of the acquisition unit image), and the curvature is greater than 0.8mm -1 The cell density in the area is twice that of the flat area. The theoretical spot shape is calculated independently: Each grid cell calculates the theoretical spot shape based on its geometric characteristics (such as plane, cylinder, or sphere). The theoretical spot shape of a planar cell is circular, and that of a cylindrical cell is elliptical (with the major axis along the generatrix). The processor generates a theoretical spot template for each grid cell in real time as a reference for fitting the scanning path. B-spline interpolation stitching correction: The scanning path is fitted with the theoretical spot shape in real time, and adjacent grid cells are stitched together using the B-spline interpolation algorithm to eliminate splicing misalignment.

[0048] This application has normal vector mapping and three-axis linkage vertical incidence control: the detection light is real-time vertically incident through multi-sensor data fusion: the detection surface normal vector is generated: the angle sensor tilt angle θ of the acquisition unit is fused with the locator coordinates (x, y, z), and the detection surface normal vector is calculated by vector cross product. Probe deflection angle mapping: the processor maps the normal vector to the laser probe deflection angle α, and the formula Calculation, where ∆L is the workpiece offset and H is the workpiece height. Three-axis linkage and closed-loop verification: The controller synchronously drives the horizontal and vertical scanning units in a three-axis linkage. The horizontal probe moves along dual horizontal slides, combined with the vertical probe's Z-axis adjustment, to achieve vertical incidence in three-dimensional space. The verification unit verifies the incidence status in real time. If the spot shape deviates from the theoretical circular shape by more than 10%, a secondary adjustment is triggered.

[0049] This application features a material-adaptive algorithm for gravity deformation compensation. The lower clamping unit reduces workpiece deformation errors through compensation logic that correlates the upper and lower elastic connectors with material hardness. The spring coefficient is associated with material hardness: the spring coefficient K of the upper and lower elastic connectors is preset based on the workpiece material, such as K = 0.8 N / mm for aluminum alloy, K = 1.2 N / mm for steel, and K = 0.5 N / mm for plastic. The processor calculates the gravity deformation compensation value based on the deformation S and K values ​​of the upper and lower elastic connectors using the formula compensation ΔL = K·S. For example, an aluminum alloy workpiece causes the upper and lower elastic connectors to deform S = 0.3 mm, and the compensation amount = 0.8 × 0.3 = 0.24 mm. The drive adjustment unit then compensates for this displacement upward. Real-time monitoring and dynamic correction: The deformation sensor monitors the S value at a frequency of 100 Hz, and the processor updates the compensation amount in real time. When the workpiece's material hardness fluctuates due to temperature changes (for example, the hardness of aluminum alloy decreases by 15% when the temperature rises from 20°C to 50°C), the K value is automatically adjusted to 0.8×(1%~15%)=0.68N / mm, and the compensation amount is simultaneously corrected to 0.68×0.3=0.204mm, ensuring that the compensation accuracy error is less than 5%.

[0050] This application features a closed-loop feature point matching system for stitching error calibration: Multi-surface scanning consistency is improved through image acquisition and recalibration processes: Corner and plane image acquisition are synchronized: The corner image acquisition system and the detection surface image acquisition system synchronously acquire data at 20fps. The corner image is swung ±45° and moved vertically 50mm via a three-axis adjustment mechanism, covering a 180° field of view around the workpiece corner. The detection surface image acquisition system scans a 200mm×200mm range along the detection surface with a resolution of 0.1mm / pixel. Feature point matching and error calculation: The processor uses the SIFT algorithm to extract feature points from corner images (such as edge intersections and texture singularities), matches them with feature points from adjacent detection surface images, and calculates stitching errors. Dynamic calibration compensation is performed: Recalibration data is written into the controller motion parameters for 3 to 5 scanning cycles, and errors are eliminated through iterative correction.

[0051] This application features an efficient scanning mode with multi-axis linkage and real-time verification: the coordinated control of the controller and sensor achieves a balance between high precision and high efficiency: synchronous drive of the horizontal / vertical scanning units: the controller synchronously controls the horizontal scanning unit (three-axis linkage along the dual horizontal slides) and the vertical scanning unit (moved by a three-axis adjustment mechanism) via the CANopen bus, and the detection light is vertically incident for real-time verification: the calibration unit captures the spot image at a frequency of 500Hz, and the processor calculates the spot center offset and ellipticity through the image moment. If the offset is greater than 0.05mm or the ellipticity is greater than 1.2, an adjustment instruction is immediately sent. Motion parameter pre-planning: the processor pre-calculates the probe motion trajectory based on the detection surface normal vector and offset, and generates forward control instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a principle framework diagram of a multi-line laser 3D scanning device in an embodiment of the present application;

[0053] Figure 2 This is a schematic structural diagram of a multi-line laser 3D scanning device in an embodiment of the present application;

[0054] Figure 3 Schematic top view of a clamping unit in a multi-line laser 3D scanning device in an embodiment of the present application;

[0055] Figure 4 Schematic diagram of the connection between two opposing adaptive telescopic members and a reference portion in the multi-line laser 3D scanning device in an embodiment of the present application;

[0056] Figure 5 Schematic diagram of the connection between the adaptive telescopic member and the reference portion in the multi-line laser 3D scanning device in an embodiment of the present application;

[0057] In the figure: 1. horizontal probe; 2. first image collector; 3. first adjustment mechanism; 4. first horizontal slide rail; 5. second horizontal slide rail; 6. second adjustment mechanism; 7. second image collector; 8. vertical probe; 9. workpiece to be measured; 10. elastic connecting ring; 11. surface clamping seat; 12. detection surface image collector; 13. first crossbeam; 14. upper corner clamping seat; 15. corner image collector; 16. adjustment unit; 17. second positioner; 18. second angle sensor; 19. detection table; 20. reference part; 21. upper elastic connecting member; 22. upper connecting rod; 23. third angle sensor; 24. first connecting rod; 25. lower connecting rod; 26. second connecting rod; 27. lower elastic connecting member; 28. second crossbeam; 29. ​​three-axis adjustment mechanism; 30. slide groove. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] See also Figure 1-5A multi-line laser 3D scanning device shown in the figure includes a detection table with a columnar reference part in the center for carrying an adaptive clamping unit; a clamping unit including a lower clamping unit, an upper clamping unit and an adjustment unit located between the upper clamping unit and the lower clamping unit; an acquisition unit including a first locator and a first angle sensor arranged at the bottom end of the adjustment unit; a second locator and a second angle sensor arranged on the upper corner clamping seat, a corner image collector and its attached third locator and third angle sensor arranged at the corner of the upper clamping unit (specifically the upper corner clamping seat); and a detection surface image collector of the upper clamping unit facing the detection surface (specifically on the surface clamping seat); a laser scanning unit including: a horizontal scanning unit: moves along the first horizontal slide rail and the second horizontal slide rail, and is equipped with a horizontal probe; a vertical scanning unit: moves through a three-axis adjustment mechanism, and is equipped with a vertical probe ; Verification unit: It is a first image collector and a second image collector, which are fixed on the horizontal probe and the vertical probe respectively, and capture the actual image parameters of the detection spot in real time; the processor is used to perform the following operations: based on the acquisition unit data, calculate the detection surface contour information and the inclination angle θ; grid the detection surface to generate theoretical image parameters of each grid unit; compare the image difference between the theoretical image parameters and the actual image parameters, and output the current grid unit measurement compensation amount and the next grid unit probe adjustment amount, wherein the processor is also configured with an abnormality detection logic, which is used to generate a synthetic waveform of multiple beam reflection signals, and compare its amplitude with the dual threshold through a window comparator. If the amplitude exceeds the threshold range, the scanning path correction is triggered to form a correction instruction; the controller dynamically adjusts the laser scanning unit according to the correction instruction sent by the processor, so that the detection light is always perpendicular to the detection surface.

[0060] In some embodiments, the lower clamping unit has: a radial distribution with the reference part as the center, including four groups of adaptive telescopic parts, each group includes a second crossbeam, an adjusting rod assembly, and a first crossbeam, wherein the adjusting rod assembly is composed of an upper connecting rod and a lower connecting rod that are slidably connected, and the two cross-slide through the first connecting rod and the second connecting rod, and are respectively connected to the upper elastic connecting member and the lower elastic connecting member; the elastic connecting member has a built-in deformation sensor to monitor the bottom offset ΔL of the workpiece in real time; the upper clamping unit: includes an elastic ring, and an upper corner clamping seat and a surface clamping seat mounted on the elastic ring; the corner clamping seat is arranged corresponding to the adjustment unit, and the corner clamping seat is installed at the top of the adjustment unit; the surface clamping seat is respectively arranged in the middle of the two adjacent corner clamping seats; the elastic ring is respectively connected to the corner clamping seat and the surface clamping seat; the elastic connecting ring adapts to the top of workpieces of different sizes by shrinking.

[0061] In some embodiments, the lower clamping unit is configured as an adaptive clamping mechanism, and the upper clamping unit is configured with a collaborative control logic; wherein, the adaptive clamping mechanism of the lower clamping unit includes: the upper connecting rod and the lower connecting rod are slidably connected by a slide groove, and the expansion and contraction amount of the upper elastic connecting member and the lower elastic connecting member are fed back to the processor in real time through the deformation sensor; the processor dynamically calculates the geometric center coordinates of the workpiece based on the offset ΔL and the top corner position data, and generates a clamping force closed-loop control signal; the collaborative control logic of the upper clamping unit includes: the surface clamping seat moves along the detection surface, and the surface texture is captured by the detection surface image collector; the corner image collector realizes panoramic scanning of the corner through the three-axis adjustment mechanism, and its data is used to construct the circumscribed area of ​​the detection surface.

[0062] In some embodiments, the anomaly detection logic is used to synthesize the reflected signal captured by the verification unit into a single waveform. The processor presets a positive threshold Th1 and a negative threshold Th2 (Th1 = 1.2 × the standard amplitude, Th2 = -1.2 × the standard amplitude). When the synthesized waveform amplitude is less than Th1 or greater than Th2, the reflection path is determined to be abnormal, triggering the following compensation: if the light intensity is attenuated, the laser power is increased; if the profile is distorted, the scanning step length is adjusted. Simultaneously, a time constant τ is set to characterize the rise rate of the reflected signal through a set sampling period, and the rise rate of the reflected signal is reflected based on the change in resistance with distance from the detection surface. Reflected signal values ​​V11 and V12 are obtained at a first sampling time point ST1 (τ≤t≤4τ) and a second sampling time point ST2 (t≥5τ). The ratio V11 / V12 is used to detect the position deviation of the laser incident point and dynamically adjust the deflection angle of the horizontal probe and / or vertical probe.

[0063] In some embodiments, the processor is preset with a third threshold Th3 and a fourth threshold Th4 (0.3~0.7×standard amplitude) for distinguishing local abnormality types; if the amplitude of the synthetic signal is less than Th3 and greater than Th4, it is determined to be a single-point reflection failure; if the amplitude is ≈0, it is determined to be a full-area failure; at the same time, the processor divides the non-uniform grid based on the curvature of the detection surface, and the unit density in the high curvature area is increased by 2 times; each grid unit independently calculates the theoretical spot shape; the scanning path fits the theoretical shape in real time, and the splicing misalignment is eliminated through B-spline interpolation.

[0064] In some embodiments, the controller synchronously drives the horizontal scanning unit and the vertical scanning unit; at the same time, the horizontal probe is linked along the first horizontal slide rail and the second horizontal slide rail in three axes; the tilt angle θ of the angle sensor of the acquisition unit is integrated with the locator coordinates (x, y, z) to generate a normal vector of the detection surface; the processor maps the normal vector to the deflection angle α of the laser probe, and verifies the vertical incidence state through the verification unit.

[0065] In some embodiments, the lower clamping unit also has deformation compensation logic: the spring coefficients of the upper elastic connector and the lower elastic connector are associated with the hardness of the workpiece material; the processor calculates the gravity deformation compensation amount based on the deformation S and calibration coefficient K of the upper elastic connector and the lower elastic connector.

[0066] In some embodiments, the corner image collector and the detection surface image collector synchronously collect corner and plane images; the processor aligns the corner images through feature point matching and calculates the detection surface stitching error; if the stitching error is greater than 0.1mm, the laser scanning unit position is triggered to be recalibrated; the recalibrated data is written into the controller motion parameters, and multiple scanning cycles are continued to complete dynamic calibration compensation.

[0067] In some embodiments, the reference portion 20 is located at the top center of the test platform 19. The reference portion 20 has a columnar structure and is vertically connected to the top center of the test platform 19. The second crossbeam 28, the adjustment rod assembly, and the first crossbeam 13 constitute an adaptive telescopic member. In one embodiment of the present application, based on the rectangular shape of the workpiece 9 to be tested, the adaptive telescopic member is radially arranged along the diagonal of the workpiece 9 to be tested, with the center of the test platform 19 as the reference. The second crossbeams 28, the adjustment rod assembly, and the first crossbeam 13 are respectively arranged in a one-to-one correspondence. The second crossbeams 28 are radially arranged with the reference portion 20 as the center, and are symmetrically arranged along the diagonal of the workpiece 9 to be tested. The two second crossbeams 28 located on opposite sides of the reference portion 20 (i.e., two on the same diagonal) form a group. One end of the second crossbeam 28 is sleeved on the outside of the reference portion 20 and rotates along the reference portion 20. The other end of the second crossbeam 28 and one end of the first crossbeam 13 are respectively connected to the two ends of the adjustment rod assembly.

[0068] The adjusting rod assembly includes an upper connecting rod 22 and a lower connecting rod 25 arranged up and down; the ends of the upper connecting rod 22 and the lower connecting rod 25 opposite to each other are respectively connected to the second cross beam 28 and the first cross beam 13, and the opposite ends slide on each other's rod body along the extension direction, and the upper connecting rod 22 and the lower connecting rod 25 are moved closer to or farther away from each other by the opposite ends, and the length of the adjusting rod assembly is adjusted by the relative sliding of the upper connecting rod 22 and the lower connecting rod 25; in one embodiment of the present application, the upper connecting rod 22 and the lower connecting rod 25 are respectively provided with sliding grooves 30 on both sides opposite to each other, and the upper connecting rod 22 and the lower connecting rod 25 are respectively provided with a first connecting rod 24 and a second connecting rod 26 on the opposite ends.

[0069] Two sets of the first connecting rods 24 and the second connecting rods 26 are provided, and the two sets of the first connecting rods 24 and the two sets of the second connecting rods 26 are respectively located on opposite sides (i.e., front and rear sides) of the upper connecting rod 22 and the lower connecting rod 25. One end of the two sets of the first connecting rods 24 is respectively connected to the end of the upper connecting rod 22 facing the first crossbeam 13, and the other ends of the two sets of the first connecting rods 24 are respectively located on either side of the lower connecting rod 25 where a slide groove 30 is provided. The two sets of the first connecting rods 24 are respectively provided on the side facing the lower connecting rod 25 with sliders that match the slide groove 30 on the lower connecting rod 25, and the sliders are respectively slidably connected to the slide grooves on the lower connecting rod 25. The other ends of the two sets of the second connecting rods 26 are respectively located on either side of the upper connecting rod 22 where the slide groove 30 is provided, and the two sets of the second connecting rods 26 are respectively provided on the side facing the upper connecting rod 22 with sliders that match the slide groove 30 on the upper connecting rod 22, and the sliders are respectively slidably connected to the slide grooves on the upper connecting rod 22. An upper elastic connecting member 21 and a lower elastic connecting member 27 are respectively provided on the side of the first connecting rod 24 and the second connecting rod 26 facing away from the upper connecting rod 22 and the lower connecting rod 25 .

[0070] Opposing ends of the upper and lower elastic connectors 21 and 27 are connected to the first and second connecting rods 24 and 26, respectively. Opposing ends of the upper and lower elastic connectors 21 and 27 are connected to the first and second crossbeams 13 and 28, respectively. A first and second deformation sensor are mounted on the upper and lower elastic connectors 21 and 27, respectively. The sliding distances of the first and second connecting rods 24 and 26 are monitored by the first and second deformation sensors, respectively. The processor calculates the actual stretching distances of the adjustment rod assemblies, thereby calculating the offset of the center of the bottom of the workpiece to be measured relative to the reference portion 20.

[0071] One end of the first cross beam 13 facing away from the reference portion 20 is connected to the adjustment unit 16 .

[0072] The bottom end of the adjustment unit 16 is rotatably connected to the end of the first crossbeam 13 facing away from the upper elastic connector 21 via a first rotating shaft, and rotates along the connection to clamp the lower corner of the workpiece 9 to be measured. The top end of the adjustment unit 16 is respectively connected to the upper clamping unit. In one embodiment of the present application, the adjustment unit 16 is a three-degree-of-freedom servo motor platform. In one embodiment of the present application, the upper elastic connecting member 21 includes a first telescopic rod and a first spring sleeved outside the first telescopic rod, and the lower elastic connecting member 27 includes a second telescopic rod and a second spring sleeved outside the second telescopic rod; the two ends of the first telescopic rod and the first spring are respectively connected to the first connecting rod 24 and the first cross beam 13; the second telescopic rod and the second spring are respectively connected to the second connecting rod 26 and the second cross beam 28; the first spring and the second spring drive the corresponding first telescopic rod and the second telescopic rod to lengthen and shorten respectively through their own deformation, so as to drive the first connecting rod 24 and the second connecting rod 26 to slide correspondingly on the lower connecting rod 25 and the upper connecting rod 22, so as to increase or decrease the overall length of the connection between the upper connecting rod 22 and the lower connecting rod 25, so as to clamp workpieces of different sizes.

[0073] The upper clamping unit includes an elastic connecting ring 10, an upper corner clamping seat 14 and a surface clamping seat 11 mounted on the elastic connecting ring 10. The upper corner clamping seats 14 are arranged in a one-to-one correspondence with the adjustment unit 16 and are respectively located at the corners of the workpiece 9 to be measured. The upper corner clamping seats 14 clamp the upper corners of the workpiece to be measured. The surface clamping seat 11 is located between two adjacent upper corner clamping seats 14 to clamp the monitoring surface of the workpiece 9 to be measured.

[0074] The adjustment unit 16 is a telescopic rod structure. The corner image collector can swing left and right at the corresponding corner and move along a vertical line to perform a panoramic scan of the corner. The detection surface collector can move up and down and left and right along the corresponding detection surface to collect information about the entire detection surface. The laser scanning unit includes at least a horizontal scanning unit and a vertical scanning unit; the horizontal scanning unit is located on one side of the detection platform and is used to detect the vertical detection surface of the workpiece to be measured; the vertical scanning unit is located on the top of the detection platform and is used to detect the horizontal detection surface of the workpiece to be measured; the horizontal scanning unit and the vertical scanning unit each perform three-axis motion along the detection platform 19; the verification unit is an image collector, which is respectively provided on the horizontal probe and the vertical probe.

[0075] The controller is connected to the processor and the laser scanning unit respectively, and dynamically adjusts the laser scanning unit according to the adjustment amount obtained by the processor, so that the detection light of the laser scanning unit is always perpendicular to the detection surface, so as to improve the measurement accuracy.

[0076] In one embodiment of the present application, the horizontal scanning unit and the vertical scanning unit realize three-axis motion along the detection table 19 through corresponding three-axis motion platforms, wherein the controllers of the two three-axis motion platforms are respectively connected to the controller, and the horizontal scanning unit and the vertical scanning unit are controlled by the controller to realize synchronous operation, and cooperate with the rapid movement of the three-axis motion platform to improve the detection efficiency.

[0077] The processor is respectively connected to the acquisition unit, the verification unit and the laser scanning unit. The processor obtains the precise contour information and the inclination of the detection surface according to the position information of each detection surface and the image information of the detection surface, unitizes the detection surface based on the contour information and the inclination of the detection surface, and calculates the theoretical image parameters corresponding to the verification unit in each grid unit based on the position of the verification unit compared with each grid unit; by calculating the image difference between the theoretical image parameters and the actual image parameters, the measurement compensation amount of the current grid unit and the adjustment amount of the probe in the next grid unit are obtained according to the calculated image difference, so as to perform dynamic compensation for the current grid unit and ensure that the detection light of the probe is perpendicular to the next grid unit when measuring the next grid unit, thereby improving the measurement accuracy; wherein the measurement compensation amount is used to adjust the energy output or scanning step length of the laser beam to correct the light intensity attenuation error caused by non-vertical incidence; the adjustment amount is used to control the deflection angle of the probe so that the detection light of the next grid unit is perpendicular to the normal vector of the detection surface. Specifically: the processor divides the corresponding detection surface into several uniform grid units based on the detection surface contour and inclination, independently calculates the theoretical image parameters of the unit grid unit, and obtains the actual image parameters of each grid unit based on the verification unit, and calculates the image difference of the unit grid unit. On the one hand, the acquisition error of the current grid unit is corrected through the dynamic compensation algorithm, and on the other hand, the adjustment amount of the next grid unit is obtained through the image difference. The laser scanning unit is dynamically adjusted through the controller so that the detection light emitted by the laser scanning unit in the next grid unit is perpendicular to the next grid unit, thereby improving the measurement accuracy.

[0078] At the same time, the processor obtains the offset of the workpiece to be measured through the deformation sensor of the clamping unit, calculates the normal vector of the detection surface based on the angle data of the acquisition unit, and generates the three-axis motion compensation instructions of the laser scanning unit to realize closed-loop control of clamping and scanning.

[0079] The acquisition unit includes: a first locator arranged at the bottom end of the adjustment unit 16, for monitoring the position information of the bottom corner of the workpiece 9 to be measured; a first angle sensor arranged on the first rotating shaft, for monitoring the vertical opening angle of the bottom corner of the workpiece 9 to be measured; a second angle sensor 18 and a second locator 17 arranged on the upper corner clamping seat 14, for monitoring the vertical angle of the top corner of the workpiece 9 to be measured and the position information of each upper corner clamping seat 14; a corner image collector 15 installed on the outside of the upper corner clamping seat 14, and a third angle sensor 23 installed on one side of the corner image collector 15 and a third locator installed on the top of the corner image collector 15, for collecting the corner position information and angle information of the corner image collector 15 to reduce the measurement error; a detection surface image collector 12 arranged on the surface clamping seat 11, for collecting vertical image information of the detection surface. The processor accurately calculates the information of the detection surface based on the corner position information, angle information and image information of the detection surface between adjacent corners, and adjusts the corresponding laser scanning device to ensure that the detection laser is always perpendicular to the detection surface during detection, thereby improving detection accuracy.

[0080] The first locator and first angle sensor, the second locator and second angle sensor, the third locator and third angle sensor, the corner image collector 15, and the detection surface image collector 12 are respectively connected to the processor. The processor calculates the vertical inclination of the workpiece 9 to be measured based on the angles of the bottom corners and the top corners, and calculates the offset of the center of the top of the workpiece to be measured relative to the reference portion 20 based on the position information of each upper corner clamping seat 14, thereby calculating the dynamically changing position of the geometric center of the workpiece to be measured. This accurately calculates the geometric center of the workpiece 9 to be measured.

[0081] In this application, the lower clamping unit utilizes a radially adaptive telescopic member that, by contracting, can adapt to the bottom circumference of workpieces of varying sizes. Furthermore, the adjustment unit 16 can rotate about a first axis to clamp workpieces with sidewalls of varying slopes. The elastic ring structure of the upper clamping unit automatically adapts to the top contour of the workpiece to achieve stable positioning on all five sides, preventing the workpiece from shifting due to gravity or vibration. Simultaneously, the first and second deformation sensors in the adaptive telescopic member monitor the stretching distance of the elastic connector in real time. The processor calculates the workpiece bottom center offset using the formula ΔL = K•S and, combined with the top corner position data, dynamically corrects the workpiece's geometric center coordinates to minimize clamping errors.

[0082] In one embodiment of the present application, a three-axis and angle adjustment mechanism is provided between the corner image collector 15 and the upper corner clamping seat 14, so that the corner image collector 15 can collect full-view information of the corresponding corner; the reference portion 20 is a columnar structure, and the reference portion 20 is vertically connected to the top center of the detection platform 19; the driving adjustment member includes a second beam 28, an adjustment rod assembly, and a first beam 13, which are sequentially arranged along the direction from the reference portion 20 to the clamping member; one end of the second beam 28 is rotatably connected to the reference portion 20. In one embodiment of the present application, the end of the second beam 28 connected to the reference portion 20 is an annular plate structure composed of two semicircles with opposing openings, wherein the two semicircles with opposing openings are detachably connected by bolts / screws, thereby forming an annular plate structure.

[0083] The reference portion 20 is provided with four annular limiting grooves from top to bottom; one end of the four second beams 28 is an annular plate structure and is respectively sleeved in the four limiting grooves.

[0084] The processor calculates the precise contour information (such as curvature, concave and convex areas) and the inclination of the detection surface (such as the inclination angle relative to the horizontal plane of the detection table) of the detection surface based on the position information of the detection surface (including the coordinates of the four corners of the detection surface and the surface contour formed by the four corners of the detection surface) and image information (such as the surface texture of the detection surface and the edge features of the detection surface) obtained by the acquisition unit; detects the bottom and top corner positions of the workpiece 9 to be measured by the first locator and the second locator respectively, and calculates the normal vector of the detection surface in combination with the angle sensor data (such as the first angle sensor and the second angle sensor); the processor divides the detection surface into a number of uniform grid units (such as rectangular grids) according to the contour complexity and inclination of the detection surface, and each grid unit corresponds to an independent detection area.

[0085] The verification unit is specifically an image collector that obtains the actual image parameters of the detection light beam in each grid unit in real time, where the image parameters include: the size of the detection light spot outline, the shape of the detection light (such as ellipticity and edge distortion), and the color of the detection light (such as light intensity distribution and wavelength offset);

[0086] The processor calculates the theoretical image parameters of each grid cell based on the ideal geometric model of each grid cell in the detection surface (such as plane and surface equations) and the preset parameters of the laser scanning unit (such as beam wavelength and incident angle). It then compares the theoretical image parameters of each grid cell with the actual image parameters, calculates the image difference corresponding to each grid cell, and determines the source of the error based on the type of image difference. Specifically:

[0087] For example, changes in the distance from the workpiece surface or light beam divergence can easily cause deviations in contour size; tilted detection surfaces or surface curvature can cause deviations in the light beam reflection path, which can easily cause shape distortion; changes in the reflectivity of surface materials or light intensity attenuation can easily cause color deviations.

[0088] Based on the determined error source, the processor determines the dynamic compensation for the current grid unit and the adjustment of the detection light for the next grid unit. Specifically, for the dynamic compensation process of the current grid unit, the measurement compensation amount is calculated based on the image difference, and the local error is corrected in the following ways: if the light intensity is attenuated (large color deviation), the output power of the detection light is increased accordingly to compensate for the detection light beam energy; if the contour is distorted, the scanning step size or trajectory of the detection light is adjusted accordingly to fit the theoretical shape to correct the scanning path;

[0089] The point cloud data is corrected through interpolation or filtering algorithms to offset the coordinate offset caused by non-vertical incidence and correct the measurement data.

[0090] For the next grid unit detection light adjustment, specifically: based on the image difference of the current grid unit, calculate the adjustment amount of the laser scanning unit probe (such as deflection angle, three-dimensional translation distance), and drive the laser scanning unit through the controller to make the detection beam of the next grid unit perpendicular to the normal vector of the detection surface of the next grid unit. The deflection angle is calculated by the formula Calculated, where: is the laser beam deflection angle (unit: °); is the offset of the workpiece to be measured, ΔL=K•S, S is the displacement of the deformation sensor, K is the calibration coefficient; H is the height of the workpiece to be measured (unit: mm); θ is the inclination angle of the workpiece to be measured relative to the horizontal plane of the testing platform (unit: °).

Claims

1. A multi-line laser 3D scanning device, characterized in that: include: The test table has a columnar reference part in the center for carrying the adaptive clamping unit; The clamping unit includes a lower clamping unit, an upper clamping unit, and an adjusting unit located between the upper clamping unit and the lower clamping unit; The acquisition unit includes a first locator and a first angle sensor disposed at the bottom end of the adjustment unit; a second locator and a second angle sensor disposed at a corner of the upper clamping unit, a corner image collector and an accompanying third locator and third angle sensor; and a detection surface image collector disposed on the upper clamping unit at the detection surface of the workpiece to be measured; The laser scanning unit includes: a horizontal scanning unit, which moves along the first horizontal slide rail and the second horizontal slide rail and is equipped with a horizontal probe; a vertical scanning unit, which moves through a three-axis adjustment mechanism and is equipped with a vertical probe; Verification unit: The first image collector and the second image collector are fixed to the horizontal probe and the vertical probe respectively, capturing the actual image parameters of the detection spot in real time; The processor is configured to perform the following operations: calculate the profile information and tilt angle θ of the detection surface based on the acquisition unit data; grid the detection surface to generate theoretical image parameters for each grid unit; compare the image difference between the theoretical image parameters and the actual image parameters, and output the measurement compensation amount for the current grid unit and the probe adjustment amount for the next grid unit, wherein the processor is configured with an anomaly detection logic, the anomaly detection logic is configured to generate a composite waveform of multiple beam reflection signals, compare its amplitude with a dual threshold value through a window comparator, and trigger a scan path correction if the amplitude exceeds the threshold range to form a correction instruction; The controller dynamically adjusts the horizontal scanning unit and the vertical scanning unit according to the correction instruction sent by the processor, so that the detection light is always perpendicular to the detection surface.

2. The multi-line laser 3D scanning device according to claim 1, characterized in that: The lower clamping unit comprises: four groups of adaptive telescopic parts radiating from the reference portion as the center, each group including a second crossbeam, an adjustment rod assembly, and a first crossbeam, wherein the adjustment rod assembly is composed of an upper connecting rod and a lower connecting rod connected in a sliding manner, the upper connecting rod and the lower connecting rod sliding crosswise through a first connecting rod and a second connecting rod, and are respectively connected to an upper elastic connecting member and a lower elastic connecting member; the upper elastic connecting member and the lower elastic connecting member are respectively built with a deformation sensor to monitor the offset ΔL of the bottom of the workpiece in real time; The upper clamping unit includes an elastic ring, a corner clamping seat and a surface clamping seat sleeved on the elastic ring; the corner clamping seat is arranged corresponding to the adjustment unit, and the corner clamping seat is installed on the top of the adjustment unit; the surface clamping seat is respectively arranged between two adjacent corner clamping seats; The elastic ring is connected to the corner clamping seat and the surface clamping seat respectively; the elastic connection ring adapts to the top of workpieces of different sizes by shrinking; The second locator, the second angle sensor corner image collector and the attached third locator and third angle sensor are respectively mounted on the corner clamping seat; The detection surface image collector is installed on the surface clamping seat.

3. The multi-line laser 3D scanning device according to claim 1 or 2, characterized in that: The lower clamping unit is configured as an adaptive clamping mechanism, and the upper clamping unit is configured with cooperative control logic; The adaptive clamping mechanism of the lower clamping unit includes: the upper connecting rod and the lower connecting rod are slidably connected through a sliding groove, and the expansion and contraction amount of the upper elastic connecting member and the lower elastic connecting member are fed back to the processor in real time through a deformation sensor; the processor dynamically calculates the geometric center coordinates of the workpiece based on the offset ΔL and the top corner position data, and generates a closed-loop control signal for the clamping force; The collaborative control logic of the upper clamping unit includes: the surface clamping seat moves along the detection surface, and the surface texture is captured by the detection surface image collector; the corner image collector realizes panoramic scanning of the corners through the three-axis adjustment mechanism, and its panoramic scanning data is used to construct the circumscribed area of ​​the detection surface.

4. The multi-line laser 3D scanning device according to claim 1, characterized in that: The anomaly detection logic is used to synthesize the reflected signal captured by the verification unit into a single waveform; the processor presets a positive side threshold Th1 and a negative side threshold Th2; when the amplitude of the synthesized waveform is less than Th1 or greater than Th2, the reflection path is determined to be abnormal, triggering the following compensation: if the light intensity is attenuated, the laser power is increased; if the profile is distorted, the scanning step size is adjusted; At the same time, through the set sampling period, the time constant τ is set to characterize the rising rate of the reflected signal, and the rising rate of the reflected signal is reflected based on the resistance change at the distance from the detection surface; the reflected signal values ​​V11 and V12 are obtained at the first sampling time point ST1 and the second sampling time point ST2; the position deviation of the laser incident point is detected by the ratio V11 / V12, and the deflection angle of the horizontal probe and / or vertical probe is dynamically adjusted.

5. The multi-line laser 3D scanning device according to claim 4, characterized in that: The processor is preset with a third threshold Th3 and a fourth threshold Th4 for distinguishing local abnormality types; if the amplitude of the composite signal is less than Th3 and greater than Th4, it is determined to be a single-point reflection failure; if the amplitude is ≈0, it is determined to be a full-area failure; At the same time, the processor divides the non-uniform grid based on the curvature of the detection surface, and the cell density in the high curvature area is increased by 2 times; each grid cell independently calculates the theoretical spot shape; the scanning path fits the theoretical shape in real time, and the splicing misalignment is eliminated through B-spline interpolation.

6. The multi-line laser 3D scanning device according to claim 1, characterized in that: The controller synchronously drives the horizontal scanning unit and the vertical scanning unit; at the same time, the horizontal probe is linked along the first horizontal slide rail and the second horizontal slide rail in three axes; The tilt angle θ of the angle sensor of the acquisition unit is fused with the locator coordinates (x, y, z) to generate the normal vector of the detection surface; the processor maps the normal vector to the deflection angle α of the laser probe and verifies the vertical incidence state through the verification unit.

7. The multi-line laser 3D scanning device according to claim 2, characterized in that: The lower clamping unit also has deformation compensation logic: The spring coefficients of the upper elastic connector and the lower elastic connector are associated with the hardness of the workpiece material; the processor calculates the gravity deformation compensation amount based on the deformation amount S of the upper elastic connector and the lower elastic connector and the calibration coefficient K.

8. The multi-line laser 3D scanning device according to claim 1, characterized in that: The corner image collector and the detection surface image collector synchronously collect corner and plane images; the processor aligns the corner images through feature point matching and calculates the detection surface stitching error; if the stitching error is greater than 0.1mm, the laser scanning unit position is triggered to recalibrate; the recalibrated data is written into the controller motion parameters, and multiple scanning cycles are continued to complete dynamic calibration compensation.

9. The multi-line laser 3D scanning device according to claim 1, characterized in that: The lower clamping unit includes a reference portion and a plurality of adaptive telescopic members arranged between the adjustment unit and the reference portion; The reference portion is mounted at the top center of the detection platform; The plurality of adaptive telescopic members are radially arranged around the base portion, and one end is mounted on the base portion. The end of the adaptive telescopic member mounted on the base portion rotates around the mounting position. The bottom end of the adjusting unit is connected to the end of the adaptive telescopic member facing away from the reference portion and rotates along the connection. The connection between the bottom end of the adjusting unit and the adaptive telescopic member realizes clamping of the bottom circumference of the workpiece to be measured, and by rotating around the adaptive telescopic member, clamping of side walls with different inclinations is realized; the upper clamping units are respectively mounted on the top ends of the adjusting units; At least four of the adaptive telescopic members and the reference portion are provided as a basis to adapt to the four corners of the workpiece with a rectangular symmetrical structure; The adaptive telescopic member includes a second crossbeam, an adjusting rod assembly and a first crossbeam which are sequentially arranged along a direction from the reference portion to the adjusting unit; One end of the second beam is mounted on the reference portion and rotates along a connection with the reference portion; The adjusting rod assembly includes an upper connecting rod and a lower connecting rod that are slidably connected, one end of the upper connecting rod is connected to the other end of the second crossbeam, an upper elastic connecting member is provided between the other end of the upper connecting rod and the first crossbeam, and one end of the upper connecting rod provided with the upper elastic connecting member is slidably connected to the lower connecting rod; One end of the lower connecting rod is connected to the first crossbeam, a lower elastic connecting member is provided between the other end of the lower connecting rod and the second crossbeam, and one end of the lower connecting rod provided with the lower elastic connecting member is slidably connected to the upper connecting rod; Two ends of the upper elastic connecting member are respectively connected to the first crossbeam and the upper connecting rod; Two ends of the lower elastic connecting member are respectively connected to the second cross beam and the lower connecting rod.

10. The multi-line laser 3D scanning device according to claim 1, characterized in that: The adjustment unit is a telescopic rod structure. The corner image collector can swing left and right at the corresponding corner and move along the vertical line to perform a panoramic scan of the corner. The detection surface collector can move up and down and left and right along the corresponding detection surface to collect information of the entire detection surface. The laser scanning unit includes at least a horizontal scanning unit and a vertical scanning unit; The horizontal scanning unit is located on one side of the detection platform and is used to detect the vertical detection surface of the workpiece to be detected; the vertical scanning unit is located on the top of the detection platform and is used to detect the horizontal detection surface of the workpiece to be detected; the horizontal scanning unit and the vertical scanning unit respectively perform three-axis motion along the detection platform.

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